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<div class="title">TagDetection.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef TAGDETECTION_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define TAGDETECTION_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;opencv2/opencv.hpp&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceAprilTags.html">AprilTags</a> {</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html">   13</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structAprilTags_1_1TagDetection.html">TagDetection</a> {</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="structAprilTags_1_1TagDetection.html#a51b7d6e963f6af1aa8234f9646d44f57">TagDetection</a>();</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="structAprilTags_1_1TagDetection.html#a51b7d6e963f6af1aa8234f9646d44f57">TagDetection</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#ac4da2cd1c14b32f0152a6ea828870413">   22</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structAprilTags_1_1TagDetection.html#ac4da2cd1c14b32f0152a6ea828870413">good</a>;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#a4fc2af2b8e56df4030ac8bb751b1334f">   25</a></span>&#160;  <span class="keywordtype">long</span> <span class="keywordtype">long</span> <a class="code" href="structAprilTags_1_1TagDetection.html#a4fc2af2b8e56df4030ac8bb751b1334f">obsCode</a>;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#ac18467b31ad56faf52e717b77d1af129">   28</a></span>&#160;  <span class="keywordtype">long</span> <span class="keywordtype">long</span> <a class="code" href="structAprilTags_1_1TagDetection.html#ac18467b31ad56faf52e717b77d1af129">code</a>;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#ad402daacc6368e86351ec6ddd226cd15">   31</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structAprilTags_1_1TagDetection.html#ad402daacc6368e86351ec6ddd226cd15">id</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#a45835f3fabb2063bc61a9674c1d7d37d">   34</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structAprilTags_1_1TagDetection.html#a45835f3fabb2063bc61a9674c1d7d37d">hammingDistance</a>;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  </div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#a1492773559c66352e5d17020b2f5c563">   37</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structAprilTags_1_1TagDetection.html#a1492773559c66352e5d17020b2f5c563">rotation</a>;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="comment">/*  The points travel counter-clockwise around the target, always</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">   *  starting from the same corner of the tag.</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">   */</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#a51424269d34b011e17161e835a8e5149">   44</a></span>&#160;  std::pair&lt;float,float&gt; <a class="code" href="structAprilTags_1_1TagDetection.html#a51424269d34b011e17161e835a8e5149">p</a>[4];</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#a0be0d15d381f8fa664a29eb682521cac">   47</a></span>&#160;  std::pair&lt;float,float&gt; <a class="code" href="structAprilTags_1_1TagDetection.html#a0be0d15d381f8fa664a29eb682521cac">cxy</a>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#a305668873db95b85b0b78c0df4e2c90c">   51</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="structAprilTags_1_1TagDetection.html#a305668873db95b85b0b78c0df4e2c90c">observedPerimeter</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">/*  Both the input and output coordinates are 2D homogeneous vectors, with y = Hx.</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">   *  &#39;y&#39; are pixel coordinates, &#39;x&#39; are tag-relative coordinates. Tag coordinates span</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">   *  from (-1,-1) to (1,1). The orientation of the homography reflects the orientation</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">   *  of the target.</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment">   */</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#a306e7bbef8727d33db049c02be76f186">   59</a></span>&#160;  Eigen::Matrix3d <a class="code" href="structAprilTags_1_1TagDetection.html#a306e7bbef8727d33db049c02be76f186">homography</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="structAprilTags_1_1TagDetection.html#a63d6d30ca13516883b261fe5efa3469d">getXYOrientation</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#ac6573a546a94db5f41c74153d83520f1">   65</a></span>&#160;  std::pair&lt;float,float&gt; <a class="code" href="structAprilTags_1_1TagDetection.html#ac6573a546a94db5f41c74153d83520f1">hxy</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  std::pair&lt;float,float&gt; <a class="code" href="structAprilTags_1_1TagDetection.html#ad8161946d00c00ecae73f48c4cdd92ee">interpolate</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structAprilTags_1_1TagDetection.html#a3c4c6789e3e60c2067cc2e7f70ed6b0d">overlapsTooMuch</a>(<span class="keyword">const</span> <a class="code" href="structAprilTags_1_1TagDetection.html">TagDetection</a> &amp;other) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">/* Returns the relative location and orientation of the tag using a</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="comment">     4x4 homogeneous transformation matrix (see Hartley&amp;Zisserman,</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="comment">     Multi-View Geometry, 2003). Requires knowledge of physical tag</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">     size (side length of black square in meters) as well as camera</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">     calibration (focal length and principal point); Result is in</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">     camera frame (z forward, x right, y down)</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">  */</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  Eigen::Matrix4d <a class="code" href="structAprilTags_1_1TagDetection.html#a1f1fc2bda2c2039dd657912975c2da8a">getRelativeTransform</a>(<span class="keywordtype">double</span> tag_size, <span class="keywordtype">double</span> fx, <span class="keywordtype">double</span> fy,</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                                       <span class="keywordtype">double</span> px, <span class="keywordtype">double</span> py) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="comment">// Result is in object frame (x forward, y left, z up)</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structAprilTags_1_1TagDetection.html#a50b871a248175a3841c90cb6046e346f">getRelativeTranslationRotation</a>(<span class="keywordtype">double</span> tag_size, <span class="keywordtype">double</span> fx, <span class="keywordtype">double</span> fy, <span class="keywordtype">double</span> px, <span class="keywordtype">double</span> py,</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                                      Eigen::Vector3d&amp; trans, Eigen::Matrix3d&amp; rot) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structAprilTags_1_1TagDetection.html#a7820dcd699d2dddea58b737ba69ddf7f">draw</a>(cv::Mat&amp; image) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="structAprilTags_1_1TagDetection.html#a6fd07b215ad1ea1141a47e39f9d1047f">   93</a></span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structAprilTags_1_1TagDetection.html#a6fd07b215ad1ea1141a47e39f9d1047f">sortByIdCompare</a> (<span class="keyword">const</span> <a class="code" href="structAprilTags_1_1TagDetection.html">TagDetection</a> &amp;a, <span class="keyword">const</span> <a class="code" href="structAprilTags_1_1TagDetection.html">TagDetection</a> &amp;b) { <span class="keywordflow">return</span> (a.<a class="code" href="structAprilTags_1_1TagDetection.html#ad402daacc6368e86351ec6ddd226cd15">id</a>&lt;b.<a class="code" href="structAprilTags_1_1TagDetection.html#ad402daacc6368e86351ec6ddd226cd15">id</a>); }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;};</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="anamespaceAprilTags_html"><div class="ttname"><a href="namespaceAprilTags.html">AprilTags</a></div><div class="ttdef"><b>Definition:</b> Edge.h:8</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html">AprilTags::TagDetection</a></div><div class="ttdef"><b>Definition:</b> TagDetection.h:13</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a0be0d15d381f8fa664a29eb682521cac"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a0be0d15d381f8fa664a29eb682521cac">AprilTags::TagDetection::cxy</a></div><div class="ttdeci">std::pair&lt; float, float &gt; cxy</div><div class="ttdoc">Center of tag in pixel coordinates.</div><div class="ttdef"><b>Definition:</b> TagDetection.h:47</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a1492773559c66352e5d17020b2f5c563"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a1492773559c66352e5d17020b2f5c563">AprilTags::TagDetection::rotation</a></div><div class="ttdeci">int rotation</div><div class="ttdoc">How many 90 degree rotations were required to align the code (internal use only)</div><div class="ttdef"><b>Definition:</b> TagDetection.h:37</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a1f1fc2bda2c2039dd657912975c2da8a"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a1f1fc2bda2c2039dd657912975c2da8a">AprilTags::TagDetection::getRelativeTransform</a></div><div class="ttdeci">Eigen::Matrix4d getRelativeTransform(double tag_size, double fx, double fy, double px, double py) const</div><div class="ttdoc">Relative pose of tag with respect to the camera.</div><div class="ttdef"><b>Definition:</b> TagDetection.cc:76</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a305668873db95b85b0b78c0df4e2c90c"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a305668873db95b85b0b78c0df4e2c90c">AprilTags::TagDetection::observedPerimeter</a></div><div class="ttdeci">float observedPerimeter</div><div class="ttdoc">Measured in pixels, how long was the observed perimeter.</div><div class="ttdef"><b>Definition:</b> TagDetection.h:51</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a306e7bbef8727d33db049c02be76f186"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a306e7bbef8727d33db049c02be76f186">AprilTags::TagDetection::homography</a></div><div class="ttdeci">Eigen::Matrix3d homography</div><div class="ttdoc">A 3x3 homography that computes pixel coordinates from tag-relative coordinates.</div><div class="ttdef"><b>Definition:</b> TagDetection.h:59</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a3c4c6789e3e60c2067cc2e7f70ed6b0d"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a3c4c6789e3e60c2067cc2e7f70ed6b0d">AprilTags::TagDetection::overlapsTooMuch</a></div><div class="ttdeci">bool overlapsTooMuch(const TagDetection &amp;other) const</div><div class="ttdoc">Used to eliminate redundant tags.</div><div class="ttdef"><b>Definition:</b> TagDetection.cc:54</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a45835f3fabb2063bc61a9674c1d7d37d"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a45835f3fabb2063bc61a9674c1d7d37d">AprilTags::TagDetection::hammingDistance</a></div><div class="ttdeci">int hammingDistance</div><div class="ttdoc">The hamming distance between the detected code and the true code.</div><div class="ttdef"><b>Definition:</b> TagDetection.h:34</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a4fc2af2b8e56df4030ac8bb751b1334f"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a4fc2af2b8e56df4030ac8bb751b1334f">AprilTags::TagDetection::obsCode</a></div><div class="ttdeci">long long obsCode</div><div class="ttdoc">Observed code.</div><div class="ttdef"><b>Definition:</b> TagDetection.h:25</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a50b871a248175a3841c90cb6046e346f"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a50b871a248175a3841c90cb6046e346f">AprilTags::TagDetection::getRelativeTranslationRotation</a></div><div class="ttdeci">void getRelativeTranslationRotation(double tag_size, double fx, double fy, double px, double py, Eigen::Vector3d &amp;trans, Eigen::Matrix3d &amp;rot) const</div><div class="ttdoc">Recover rotation matrix and translation vector of April tag relative to camera.</div><div class="ttdef"><b>Definition:</b> TagDetection.cc:114</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a51424269d34b011e17161e835a8e5149"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a51424269d34b011e17161e835a8e5149">AprilTags::TagDetection::p</a></div><div class="ttdeci">std::pair&lt; float, float &gt; p[4]</div><div class="ttdef"><b>Definition:</b> TagDetection.h:44</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a51b7d6e963f6af1aa8234f9646d44f57"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a51b7d6e963f6af1aa8234f9646d44f57">AprilTags::TagDetection::TagDetection</a></div><div class="ttdeci">TagDetection()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> TagDetection.cc:21</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a63d6d30ca13516883b261fe5efa3469d"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a63d6d30ca13516883b261fe5efa3469d">AprilTags::TagDetection::getXYOrientation</a></div><div class="ttdeci">float getXYOrientation() const</div><div class="ttdoc">Orientation in the xy plane.</div><div class="ttdef"><b>Definition:</b> TagDetection.cc:33</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a6fd07b215ad1ea1141a47e39f9d1047f"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a6fd07b215ad1ea1141a47e39f9d1047f">AprilTags::TagDetection::sortByIdCompare</a></div><div class="ttdeci">static bool sortByIdCompare(const TagDetection &amp;a, const TagDetection &amp;b)</div><div class="ttdoc">Compare function to sort detections by std::sort.</div><div class="ttdef"><b>Definition:</b> TagDetection.h:93</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_a7820dcd699d2dddea58b737ba69ddf7f"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#a7820dcd699d2dddea58b737ba69ddf7f">AprilTags::TagDetection::draw</a></div><div class="ttdeci">void draw(cv::Mat &amp;image) const</div><div class="ttdoc">Draw the detection within the supplied image, including boarders and tag ID.</div><div class="ttdef"><b>Definition:</b> TagDetection.cc:137</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_ac18467b31ad56faf52e717b77d1af129"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#ac18467b31ad56faf52e717b77d1af129">AprilTags::TagDetection::code</a></div><div class="ttdeci">long long code</div><div class="ttdoc">Matched code.</div><div class="ttdef"><b>Definition:</b> TagDetection.h:28</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_ac4da2cd1c14b32f0152a6ea828870413"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#ac4da2cd1c14b32f0152a6ea828870413">AprilTags::TagDetection::good</a></div><div class="ttdeci">bool good</div><div class="ttdoc">Is the detection good enough?</div><div class="ttdef"><b>Definition:</b> TagDetection.h:22</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_ac6573a546a94db5f41c74153d83520f1"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#ac6573a546a94db5f41c74153d83520f1">AprilTags::TagDetection::hxy</a></div><div class="ttdeci">std::pair&lt; float, float &gt; hxy</div><div class="ttdoc">The homography is relative to image center, whose coordinates are below.</div><div class="ttdef"><b>Definition:</b> TagDetection.h:65</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_ad402daacc6368e86351ec6ddd226cd15"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#ad402daacc6368e86351ec6ddd226cd15">AprilTags::TagDetection::id</a></div><div class="ttdeci">int id</div><div class="ttdoc">What was the ID of the detected tag?</div><div class="ttdef"><b>Definition:</b> TagDetection.h:31</div></div>
<div class="ttc" id="astructAprilTags_1_1TagDetection_html_ad8161946d00c00ecae73f48c4cdd92ee"><div class="ttname"><a href="structAprilTags_1_1TagDetection.html#ad8161946d00c00ecae73f48c4cdd92ee">AprilTags::TagDetection::interpolate</a></div><div class="ttdeci">std::pair&lt; float, float &gt; interpolate(float x, float y) const</div><div class="ttdoc">Interpolate point given (x,y) is in tag coordinate space from (-1,-1) to (1,1).</div><div class="ttdef"><b>Definition:</b> TagDetection.cc:45</div></div>
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